Weld joint center line real-time tracking method and device, computer equipment and storage medium

Abstract

The invention relates to the field of welding seam detection, and discloses a welding seam center line real-time tracking method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining a laser tracking evaluation speed, an ultrasonic tracking evaluation speed and a tracking speed threshold value of a to-be-detected weldment; if the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are both larger than the tracking speed threshold value, the weld joint center line of the to-be-detected weldment is tracked according to a laser and ultrasonic simultaneous inspection strategy; and if the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is smaller than or equal to the tracking speed threshold value, the welding seam center line of the to-be-detected weldment is tracked according to a main laser and auxiliary ultrasonic strategy. According to the invention, the obvious limitation of a single laser tracking technology under the conditions of a complex surface and strong illumination is overcome, and high-precision and high-robustness real-time tracking is realized through acousto-optic fusion.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of weld detection, in particular to a weld centerline real-time tracking method and device, computer equipment and storage medium. BACKGROUND

[0002] In modern industrial manufacturing, the welding quality is directly related to the safety and service life of key equipment such as aerospace, rail transportation and energy pipeline, so high-precision real-time tracking of the weld becomes the core demand of non-destructive testing automation. Traditional weld tracking mostly uses laser vision technology, which is based on laser triangulation and image recognition principles. Although it performs well under ideal surface conditions, it faces significant limitations under actual complex working conditions: when the weld has an oxidation layer, spatter, irregular crown height or high surface roughness (Ra>3.2μm), the edge reflectivity difference is insufficient or the appearance is blurred, which can easily lead to positioning errors or even recognition failure. At the same time, strong environmental light (>10000 lux) can also seriously interfere with the imaging quality. In contrast, ultrasonic sensing has the advantages of strong penetration and is not affected by surface optical properties, which can effectively cope with challenges such as high / low reflectivity and thin oxidation layer (≤1mm), and support high-speed dynamic tracking (≤2 m / s).

[0003] However, single laser tracking technology has obvious limitations in complex surfaces and strong light conditions. Therefore, it is urgent to integrate the complementary advantages of sound and light to develop a robust weld centerline real-time tracking method that can adapt to complex surface conditions, in order to achieve high-precision and high-reliability dynamic tracking of the weld centerline. SUMMARY

[0004] The embodiments of the present application provide a weld centerline real-time tracking method, device, computer equipment and storage medium to solve the problem of insufficient resolution and difficulty in adapting to complex surfaces in weld boundary positioning using single ultrasonic means.

[0005] A weld centerline real-time tracking method, comprising:

[0006] obtaining a laser tracking evaluation speed, an ultrasonic tracking evaluation speed and a tracking speed threshold of a weld to be measured;

[0007] if both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold, tracking the weld centerline of the weld to be measured according to a laser-ultrasonic co-detection strategy;

[0008] if either the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold, tracking the weld centerline of the weld to be measured according to a master laser + secondary ultrasonic strategy.

[0009] Optionally, the tracking the weld centerline of the welding piece to be measured according to the laser-ultrasound joint detection strategy comprises:

[0010] tracking the weld centerline by laser to obtain a laser tracking result;

[0011] tracking the weld centerline by ultrasound to obtain an ultrasound tracking result;

[0012] calculating a first confidence degree of the laser tracking result;

[0013] calculating a second confidence degree of the ultrasound tracking result;

[0014] processing the laser tracking result and the ultrasound tracking result according to the first confidence degree and the second confidence degree to obtain a target tracking result.

[0015] Optionally, the tracking the weld centerline of the welding piece to be measured according to the main laser+auxiliary ultrasound strategy comprises:

[0016] tracking the weld centerline by laser to obtain a laser tracking result;

[0017] calculating a first confidence degree of the laser tracking result;

[0018] if the first confidence degree is less than a first preset confidence degree threshold, tracking the weld centerline by ultrasound to obtain an ultrasound tracking result;

[0019] calculating a second confidence degree of the ultrasound tracking result;

[0020] if the second confidence degree is greater than or equal to a second preset confidence degree threshold, determining the ultrasound tracking result as a target tracking result.

[0021] Optionally, the tracking the weld centerline by ultrasound to obtain an ultrasound tracking result comprises:

[0022] initializing at least one pair of ultrasound probes; the initialization comprises angle setting, system calibration and sensitivity setting; the ultrasound probes are phased array probes or general ultrasound probes;

[0023] in a scanning process, identifying weld edge position data through echo data collected by the at least one pair of ultrasound probes;

[0024] determining a weld center coordinate under a current angle according to the weld edge position data, and obtaining deviation of a detection position from an expected path and local posture information;

[0025] The deviation amount and local posture information at all detection angles are summarized, and the ultrasonic tracking result is obtained by solving through the least square method. The ultrasonic tracking result includes a globally optimal weld centerline position and a tracking direction.

[0026] Optionally, the detection parameters or threshold ranges associated with the ultrasonic probe include:

[0027] Moving speed: 0.1 m / s ~ 2 m / s;

[0028] Angle range: 10° ~ 90°;

[0029] Angle step: 1° ~ 10°;

[0030] Time threshold: 0 ~ 1 μs;

[0031] Amplitude threshold: 0.5 ~ 1 ;

[0032] Probe wafer number: 16-64.

[0033] Optionally, the ultrasonic tracking result obtained by tracking the weld centerline through ultrasonic includes:

[0034] A transmitting probe is used to excite in a plane wave mode; two probes are symmetrically arranged on both sides of the weld, with consistent front edge distance; an imaging area of the receiving probe is set, with a height of one-third of the workpiece thickness and a width covering the weld and leaving a margin;

[0035] Probe zero-point calibration and workpiece sound speed calibration are performed to ensure accurate sound-time-to-position mapping; at the same time, AF calibration is performed on the imaging area to determine imaging resolution, array element number, and control AF sensitivity fluctuation gain to be less than or equal to a preset sensitivity threshold;

[0036] The probe is placed in a defect-free base material area, a bottom wave signal is positioned in the imaging area, and the gain is adjusted to stabilize the amplitude at a specified amplitude as a reference benchmark for subsequent identification ;

[0037] In the imaging area, echo signals at each scanning position are analyzed to generate weld edge position data: if the time deviation and the amplitude are satisfied, the base material is determined; otherwise, the weld is determined;

[0038] The current weld center coordinate and detection position deviation are calculated according to the weld edge position data, the weld direction is calculated in combination with the historical trajectory, and the ultrasonic tracking result is formed.

[0039] Optionally, the initialization setting of the at least one pair of ultrasonic probes includes:

[0040] acquire a transmission probe parameter;

[0041] adjust a distance from a transmission probe front edge to a weld center according to a coverage requirement;

[0042] calculate a geometric path of a receiving probe;

[0043] process the transmission probe parameter and the distance according to a receiving probe angle calculation formula to obtain a receiving probe angle; the receiving probe angle calculation formula comprises:

[0044]

[0045] wherein, is the receiving probe angle;

[0046] is the distance from the transmission probe front edge to the weld center;

[0047] is a probe front edge distance;

[0048] is a horizontal offset of a sound ray to a workpiece bottom surface;

[0049] is a workpiece thickness.

[0050] A weld centerline real-time tracking device comprises:

[0051] an acquisition tracking evaluation parameter module configured to acquire a laser tracking evaluation speed, an ultrasonic tracking evaluation speed, and a tracking speed threshold value of a weld piece to be measured;

[0052] a same detection module configured to track a weld centerline of the weld piece to be measured according to a laser-ultrasonic same detection strategy if both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold value;

[0053] a main light and auxiliary ultrasonic module configured to track the weld centerline of the weld piece to be measured according to a main laser + auxiliary ultrasonic strategy if either the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold value.

[0054] A computer device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned weld centerline real-time tracking method when executing the computer program.

[0055] A computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above-mentioned weld centerline real-time tracking method.

[0056] The weld center line real-time tracking method, device, computer equipment and storage medium, by dynamically evaluating the real-time detection capability of the laser and ultrasonic module, intelligently switching the cooperative detection or main and auxiliary complementary strategy, effectively considering the tracking accuracy and response speed, realizing the dual-mode fusion positioning under the requirements of high speed and high reliability, and still guaranteeing the stable tracking of the weld center line when the single mode is limited, thereby significantly improving the adaptability of the system to complex weld appearance and surface state, meeting the real-time and robustness requirements under different welding process scenes. The present application overcomes the significant limitations of single laser tracking technology under complex surface and strong light conditions, and realizes high-precision and high-robustness real-time tracking through acoustic-optical fusion. BRIEF DESCRIPTION OF DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0058] Figure 1 is a flow chart of the weld center line real-time tracking method in an embodiment of the present application;

[0059] Figure 2 is a schematic diagram of the sound line excited by the ultrasonic probe A in an embodiment of the present application;

[0060] Figure 3 is a schematic diagram of the sound line excited by the ultrasonic probe A and the sound line received by the ultrasonic probe B in an embodiment of the present application;

[0061] Figure 4 is a schematic diagram of the plane wave excited by the ultrasonic probe A in an embodiment of the present application;

[0062] Figure 5 is a schematic diagram of the imaging area formed by the plane wave around the weld in an embodiment of the present application;

[0063] Figure 6 is a schematic diagram of the weld center line real-time tracking device in an embodiment of the present application;

[0064] Figure 7 is a schematic diagram of the computer equipment in an embodiment of the present application. DETAILED DESCRIPTION

[0065] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0066] In an embodiment, as shown in Figure 1 a weld centerline real-time tracking method is provided, comprising the following steps S10-S30.

[0067] S10, acquiring a laser tracking evaluation speed, an ultrasonic tracking evaluation speed and a tracking speed threshold of a welding piece to be measured.

[0068] Understandably, the embodiment is realized by the laser tracking module and the ultrasonic tracking module. The laser tracking module comprises a laser tracker. The ultrasonic tracking module can adopt any of the following configurations: a pair of phased array probes cooperating with an electric control chassis, a pair of general ultrasonic probes cooperating with an electric control chassis, or multiple pairs of general ultrasonic probes cooperating with an electric control chassis. The electric control chassis is used to control multiple probes to move left and right synchronously, or to control a single probe to move left and right individually.

[0069] The laser tracking evaluation speed of the welding piece to be measured can be acquired in real time by the laser tracking module. The speed is determined based on the comprehensive detection frequency of the laser scanning frequency and the data interface response rate. At the same time, the ultrasonic tracking evaluation speed is acquired in real time by the ultrasonic tracking module. The speed is limited by the workpiece thickness and the material sound speed, and is usually expressed as the reciprocal of the single ultrasonic detection period. In addition, the system also acquires a preset tracking speed threshold. The threshold is set according to the real-time requirement of the post-weld detection task, that is, the minimum detection frequency threshold required to meet the weld area tracking detection.

[0070] S20, if the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are both greater than the tracking speed threshold, the weld centerline of the welding piece to be measured is tracked according to the laser-ultrasonic simultaneous detection strategy.

[0071] Understandably, when the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are both higher than the preset tracking speed threshold, the system enables the laser-ultrasonic collaborative detection strategy. At this time, the laser tracking module and the ultrasonic tracking module (such as a phased array probe group) work synchronously to generate preliminary trajectories of the weld center line respectively. Subsequently, the data fusion unit performs confidence evaluation on the output results of the two modules: the laser confidence is determined based on the surface reflectivity gradient and the weld crown continuity; and the ultrasonic confidence is quantified according to the hit rate of multi-angle bottom wave detection (for example, the proportion of effective bottom wave echoes). Finally, the system fuses the two preliminary trajectories by using confidence weighted averaging and the like, and outputs a high-precision and high-robustness final trajectory of the weld center line. The tracking speed threshold can be set according to actual needs, which can be 1.5 m / min.

[0072] S30, if the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold, tracking the weld center line of the weld under test according to the main laser + auxiliary ultrasonic strategy.

[0073] Understandably, when the evaluation speed of any module is lower than or equal to the preset tracking speed threshold, the system switches to the “main laser + auxiliary ultrasonic” strategy. In this mode, the laser tracking module is preferentially relied on for continuous scanning to obtain the weld center line trajectory; only when the laser confidence is lower than 70% (for example, in the case of strong reflection interference, surface contamination or weld geometry mutation, etc.), the ultrasonic tracking module is triggered for supplementary detection. At this time, the ultrasonic module dynamically adjusts the probe position through the electric control chassis to implement targeted review of the local area with low laser confidence, and corrects the laser data based on the ultrasonic detection results, thereby improving the reliability and robustness of the overall tracking.

[0074] The embodiment intelligently switches the collaborative detection or main-aided complementary strategy by dynamically evaluating the real-time detection capabilities of the laser and ultrasonic modules, effectively balances the tracking accuracy and response speed, realizes dual-module fusion positioning under high speed and high reliability requirements, and can still guarantee stable tracking of the weld center line when a single module is limited, thereby significantly improving the adaptability of the system to complex weld appearance and surface state, and meeting the real-time and robustness requirements in different welding process scenarios.

[0075] Optionally, step S20, that is, tracking the weld center line of the weld under test according to the laser-ultrasonic collaborative detection strategy, comprises:

[0076] S201, tracking the weld center line by laser to obtain a laser tracking result;

[0077] S202, tracking the weld center line by ultrasonic to obtain an ultrasonic tracking result;

[0078] S203, calculate a first confidence degree of the laser tracking result;

[0079] S204, calculate a second confidence degree of the ultrasonic tracking result;

[0080] S205, process the laser tracking result and the ultrasonic tracking result according to the first confidence degree and the second confidence degree, and obtain a target tracking result.

[0081] Understandably, the laser can be used to track the weld center line to obtain the laser tracking result. Specifically, the laser tracker emits a line laser to scan the weld surface, and a CCD camera collects the laser stripe image. The center line of the stripe is extracted by an image processing algorithm, the weld bevel edge is identified, and the weld center position is calculated. After coordinate system conversion, the laser tracking result is obtained. At the same time, the historical position sequence is recorded, and the tracking direction attitude of the weld is calculated by difference or sliding window fitting. In an example, the laser scanning frequency ranges from 1 kHz to 10 kHz, preferably 5 kHz.

[0082] The ultrasonic can be used to track the weld center line to obtain the ultrasonic tracking result. Specifically, an ultrasonic probe array is excited, and the emitting probe emits ultrasonic waves at a preset angle step. The receiving probe detects the bottom wave signal and records the echo time (T) and amplitude (A) at each angle. According to the threshold (such as |T-T0|≤0.3µs and A≥0.7A0), the signal validity is judged, the weld edge is determined, and the ultrasonic tracking result of the weld center is calculated.

[0083] The laser confidence degree can be calculated based on the surface reflectivity gradient and the excess height continuity. The surface reflectivity gradient is used to evaluate the steepness of the gray level change of the laser stripe in the weld area. The clearer the gradient, the higher the confidence degree. The excess height continuity is used to analyze the smoothness of the weld excess height profile in the historical tracking result. Mutation or fracture will reduce the confidence degree. The laser confidence degree can be a weighted value of the scores of the surface reflectivity gradient and the excess height continuity.

[0084] The core indicator of the ultrasonic confidence degree can be the bottom wave hit rate. That is, among all the emitting angles, the proportion of angles that can effectively receive the bottom wave signal conforming to the base material characteristics. The higher the hit rate, the less the ultrasonic signal is disturbed by the internal structure, and the higher the confidence degree. The bottom wave hit rate is positively correlated with the number of effective bottom wave angles.

[0085] The data fusion unit performs adaptive weighted fusion according to the real-time calculated laser confidence degree and ultrasonic confidence degree, and a preset strategy (such as laser as the main, ultrasonic as the auxiliary).

[0086] If the laser confidence degree is greater than or equal to 0.7 and the ultrasonic confidence degree is less than 0.7: the system adopts the laser tracking as the main strategy, and the target tracking result is approximately equal to the laser tracking result.

[0087] If laser confidence < 0.7 and ultrasound confidence ≥ 0.7: the system switches to the ultrasound tracking as the main strategy, and the target tracking result ≈ ultrasound tracking result.

[0088] If laser confidence ≥ 0.7 and ultrasound confidence ≥ 0.7: the system enters the laser-ultrasound co-detection strategy, and performs weighted fusion: target tracking result = (laser confidence * ultrasound tracking result + ultrasound confidence * ultrasound tracking result) / (laser confidence + ultrasound confidence).

[0089] If laser confidence < 0.7 and ultrasound confidence < 0.7: trigger an alarm to prompt manual intervention or system re-calibration.

[0090] The embodiment synchronously acquires the tracking results of the laser and the ultrasound on the weld center line, and quantifies the confidence of each, to realize data-driven adaptive fusion; the complementary advantages of high resolution of the laser and strong penetration of the ultrasound are utilized to maintain high-precision positioning under the interference of complex surfaces or internal defects; the confidence weighted fusion mechanism effectively suppresses the false detection or missed detection of a single mode, and significantly improves the robustness and reliability of the weld tracking.

[0091] Optionally, step S30, i.e., tracking the weld center line of the weld to be measured according to the main laser + auxiliary ultrasound strategy, comprises:

[0092] S301, tracking the weld center line by laser to obtain a laser tracking result;

[0093] S302, calculating a first confidence of the laser tracking result;

[0094] S303, if the first confidence is less than a first preset confidence threshold, tracking the weld center line by ultrasound to obtain an ultrasound tracking result;

[0095] S304, calculating a second confidence of the ultrasound tracking result;

[0096] S305, if the second confidence is greater than or equal to a second preset confidence threshold, determining the ultrasound tracking result as a target tracking result.

[0097] Understandably, the weld center line can be tracked by laser to obtain a laser tracking result, and the specific implementation manner can refer to step S201, which will not be described here.

[0098] The first confidence of the laser tracking result is calculated, and the specific implementation manner can refer to step S203, which will not be described here.

[0099] If the first confidence is less than a first preset confidence threshold, the weld centerline is tracked by ultrasound to obtain an ultrasound tracking result. The specific implementation of obtaining the ultrasound tracking result can refer to step S202, which will not be repeated here. The first preset confidence threshold can be set according to the implementation, such as 0.7. If the first confidence is greater than or equal to the first preset confidence threshold, the laser tracking result is determined as the target tracking result.

[0100] A second confidence of the ultrasound tracking result is calculated, and the specific implementation can refer to step S204, which will not be repeated here.

[0101] If the second confidence is greater than or equal to a second preset confidence threshold, the ultrasound tracking result is determined as the target tracking result. The second preset confidence threshold can be set according to the implementation, such as 0.7. If the second confidence is less than the second preset confidence threshold, an alarm is triggered to prompt manual intervention or system re-calibration.

[0102] The embodiment preferentially relies on efficient laser tracking, and only activates the ultrasound module for local reinforcement when the laser confidence is insufficient, balancing real-time performance and accuracy; by setting a double-confidence threshold mechanism, misuse of low-quality data is effectively avoided, ensuring the reliability of the output result; ultrasound only intervenes in necessary areas, reducing system calculation and energy consumption overhead, and improving overall operation efficiency. The embodiment significantly enhances the adaptability of the weld tracking system under strong interference, surface abnormalities or complex geometric conditions.

[0103] Optionally, step S202, i.e., tracking the weld centerline by ultrasound to obtain an ultrasound tracking result, comprises:

[0104] S2021, initializing at least one pair of ultrasonic probes; the initialization setting includes angle setting, system calibration and sensitivity setting; the ultrasonic probe is a phased array probe or a general ultrasonic probe;

[0105] S2022, in the scanning process, the weld edge position data is identified through the echo data collected by the at least one pair of ultrasonic probes;

[0106] S2023, the weld center coordinates under the current angle are determined according to the weld edge position data, and the deviation amount of the detection position relative to the expected path and the local attitude information are obtained;

[0107] S2024, the deviation amount and the local attitude information under all detection angles are summarized, and the ultrasound tracking result is obtained by solving through the least square method; the ultrasound tracking result includes the globally optimal weld centerline position and the tracking direction.

[0108] It is appreciated that at least one pair of ultrasonic probes (transmitting probe A and receiving probe B) can be initialized. The initialization includes, but is not limited to, angle setting, system calibration and sensitivity setting.

[0109] Specifically, the detection angle can be set according to the probe type. If it is a phased array probe, it is usually electronically scanned in a fixed step (such as 5°) in the range of 30°-70°; if it is a general probe, typical angles such as 30°, 45°, 60°, etc. are usually selected, and the posture of the probe is adjusted through the motorized stand. Here, the general ultrasonic probe refers to a conventional ultrasonic detection probe of non-phased array type, such as a single-crystal longitudinal wave straight probe (for vertical incidence detection), a single-crystal transverse wave oblique probe (with a wedge, for weld oblique incidence detection), and a double-crystal focusing probe (for near-surface defect detection).

[0110] The system calibration includes, but is not limited to, probe zero point calibration and workpiece sound velocity calibration. The probe zero point calibration (determining the propagation time of ultrasonic waves in the probe wedge) and the workpiece sound velocity calibration (measuring the actual propagation speed of ultrasonic waves in the workpiece material to be detected) are performed to ensure the accuracy of subsequent time-of-flight measurement and position calculation.

[0111] During sensitivity setting, the probe is placed in a defect-free area of the workpiece base material. For each detection angle , the formula is used to preset the front edge distance D of the two probes (where T is the workpiece thickness, is the front edge length of the probe). Then, the probe position is fine-tuned through the electric control chassis so that the amplitude of the base wave received by the receiving probe B reaches the highest, and the highest amplitude is adjusted to 80% of the full screen height. The final probe distance and the instrument gain value at this angle are recorded as the reference sensitivity of this angle.

[0112] As shown in Figure 2 and 3 , during the scanning of the probe along the weld, for each preset angle, the detection is performed using the calibrated and at this angle. When the probe is horizontally translated, the sound line passes through the base material→weld→base material in turn. The region can be determined by setting a time threshold and an amplitude threshold. Among them, the base material region criterion is that the absolute value of the difference between the echo arrival time T and the theoretical plate thickness echo time T0 and the echo amplitude A≥0.7A0 (A0 is the amplitude under the initial reference sensitivity). The weld region criterion is the region that does not meet the above conditions.

[0113] In the base material area, the sound wave propagation path is stable, and the probe B can receive the echo at the expected time and amplitude; in the weld area, due to the change of internal organization and geometric shape, the sound wave is scattered, attenuated or changed, resulting in echo time offset and significant decrease in amplitude. When the system records the movement of the electric control chassis, the signal jumps from the "base material criterion" to the "weld criterion", and then jumps back to the two critical positions, which are the left and right weld edge positions identified at the current angle.

[0114] According to the left and right weld edge positions identified in S2022, the weld center coordinates at the current detection angle are calculated. Then, the measured center coordinates are compared with the system expected weld path to obtain the detection position deviation of the current scanning position in the horizontal direction . At the same time, combined with the historical center coordinates of the continuous multiple scanning points at this angle, the tracking direction posture (such as the trend angle) of the weld in this local area is calculated by linear fitting method.

[0115] Repeat S2022-S2023 to obtain the deviation and posture information at all preset detection angles. Due to the different response characteristics and anti-interference ability of sound beams at different angles, accidental errors may exist in single angle results. The least square method and other numerical optimization algorithms are used to fit and optimize the and posture information at all angles to obtain a global optimal solution that best represents the consensus of all angle measurements, and then generate the ultrasonic tracking result. The ultrasonic tracking result includes but is not limited to: the globally optimal weld center line position at the current time; the globally optimal tracking direction at the current time. The ultrasonic tracking result can be sent to the tracking controller for driving the execution mechanism to perform high-precision path correction.

[0116] The embodiment effectively improves the accuracy and adaptability of weld edge identification through multi-angle ultrasonic scanning and systematic initialization, especially for complex geometry or poor surface conditions; the least square global optimization of the deviation and posture information collected by multiple angles significantly enhances the stability and anti-noise ability of the ultrasonic tracking result; the obtained weld center line not only contains high-precision position information, but also integrates local trend and direction features, providing reliable basis for subsequent path control. The overall process of the embodiment considers detection accuracy and calculation efficiency, supporting real-time weld tracking with high robustness.

[0117] Optionally, the detection parameters or threshold ranges associated with the ultrasonic probe include:

[0118] Moving speed: 0.1 m / s~2 m / s;

[0119] Angle range: 10°~90°;

[0120] Angle step: 1°~10°;

[0121] time threshold: 0~1 μs;

[0122] amplitude threshold: 0.5 ~1 ;

[0123] probe chip number: 16-64.

[0124] It can be understood that the detection parameters or threshold ranges associated with the ultrasonic probe, i.e., the detection parameters or threshold ranges of the ultrasonic tracking module, include but are not limited to the moving speed, the angle range, the angle step, the time threshold, the amplitude threshold, the probe chip number, and the AF sensitivity change amount.

[0125] Specifically, the moving speed of the ultrasonic probe is 0.1 m / s~2 m / s, preferably 0.5 m / s. The angle range of the ultrasonic probe is 10°~90°, preferably 30°-70°. The angle step of the ultrasonic probe is 1°~10°, preferably 1° or 5°. The time threshold ranges from 0 to 1 μs, preferably 0.3 μs. The amplitude threshold is 0.5 ~1 , preferably 0.7 . The number of chips of the phased array probe is 16-64, preferably 16. In some examples, the AF (amplitude fidelity) sensitivity change amount is 0.1 dB~2 dB, preferably 0.5 dB.

[0126] Optionally, step S202, i.e., tracking the weld centerline by ultrasound to obtain an ultrasonic tracking result, comprises:

[0127] S2025, a one-transmit-one-receive mode is adopted, and a transmitting probe is excited by a plane wave; two probes are symmetrically arranged on both sides of the weld, and the front edge distance is consistent; an imaging area of a receiving probe is set, the height is one third of the thickness of the workpiece, and the width covers the weld and leaves a margin;

[0128] S2026, probe zero-point calibration and workpiece sound speed calibration are performed to ensure the accuracy of the sound-time-to-position mapping; at the same time, AF calibration is performed on the imaging area to determine the imaging resolution, the number of array elements, and to control the AF sensitivity fluctuation gain to be less than or equal to a preset sensitivity threshold;

[0129] S2027, the probe is placed in a defect-free base material area, a bottom wave signal is positioned in the imaging area, the gain is adjusted to make the amplitude stable at a specified amplitude, which is used as a reference benchmark for subsequent identification ;

[0130] S2028, in the imaging area, the echo signal of each scanning position is analyzed to generate weld edge position data: if the time deviation and the amplitude , judge as base material; otherwise, judge as weld;

[0131] S2029、According to the weld edge position data, calculate the current weld center coordinate and the detection position deviation, combine the historical trajectory to calculate the weld direction, and form the ultrasonic tracking result.

[0132] Understandably, as shown in Figure 4 and Figure 5 , the ultrasonic tracking module can adopt a one-transmit-one-receive working mode. The transmitting probe (such as the probe A in Figure 4 ) transmits ultrasonic waves into the workpiece in a plane wave excitation mode, which can excite the entire probe aperture at one time, forming a fan-shaped acoustic beam covering a certain angle, and improving the detection efficiency. The two probes (A and B) are symmetrically arranged on both sides of the weld, and the front edge distance (the vertical distance from the front end of the probe to the scanning surface) is set to be consistent, so as to ensure the symmetry of the acoustic path. In order to balance the imaging quality and processing speed, the imaging region (ROI) of the receiving probe B is specially set: its height is limited to one third (T / 3) of the thickness T of the workpiece, which usually covers the key parts such as the weld fusion zone and the heat affected zone; and its width is set to be sufficient to cover the estimated width of the weld and leave a proper margin, so as to ensure that the base material and the weld area can be clearly distinguished.

[0133] In order to ensure the accuracy of the measurement reference, the system performs a comprehensive calibration process: first, the probe zero point calibration is performed to determine the propagation time delay of the ultrasonic wave in the probe wedge; secondly, the workpiece sound velocity calibration is carried out to accurately obtain the actual propagation speed of the ultrasonic wave in the current material; at the same time, the preset imaging region (ROI) is subjected to AF (Amplitude Fidelity, amplitude fidelity) calibration, according to which the required imaging resolution, the number of active elements and the focusing algorithm are determined and optimized, and the key quality control indicator is that the AF sensitivity fluctuation gain after calibration does not exceed 0.5 dB, so as to ensure the uniformity and stability of the signal response in the entire ROI, and to provide a reliable foundation for subsequent high-precision, quantitative defect identification and weld positioning. AF is one of the key parameters for evaluating the imaging quality of total focusing method (TFM), which is used to ensure the proximity of the actual measured maximum amplitude to the maximum amplitude under ideal resolution.

[0134] Place the calibrated probe pair in the base material area of the workpiece (away from the weld and without defects). In the preset ROI, locate the bottom wave signal generated by the reflection of the bottom surface of the workpiece. By fine-tuning the probe position (using the electric control chassis) and the instrument gain, the amplitude of the bottom wave signal is maximized, and finally the maximum amplitude is adjusted to 80% of the full screen height. At this time, the system records the gain value in this state, and defines this amplitude value as the reference benchmark A0 for comparison in subsequent edge identification.

[0135] During the weld seam scanning process, the system analyzes the echo signal at each scanning position and distinguishes between the base material and weld seam areas within the imaging region based on a preset dual-threshold criterion: when the deviation between the echo arrival time T and the theoretical bottom echo time T0 does not exceed 0.3μs and the amplitude A is not lower than the reference standard. 70% of (i.e. A≥0.7 If the signal is within a certain range (e.g., when the signal is within a certain range), it is considered the base material area; otherwise, it is considered the weld area. This criterion is based on the fact that the sound wave propagation path in the base material area is stable, the signal is strong and timely, while the weld area is affected by uneven structure, excess height or defects, which cause sound wave scattering, attenuation or path distortion, resulting in amplitude reduction or abnormal time delay. By continuously scanning and identifying the two jump points where the signal characteristics change from the base material criterion to the weld criterion and then back to the base material criterion, the positions of the left and right weld edges can be accurately determined.

[0136] Based on the left and right edge positions identified by S2028, the weld center coordinates at the current scanning position are calculated. These measured center coordinates are compared with the system's preset tracking path to calculate the real-time detection position deviation є. Simultaneously, the system combines the center coordinates of multiple consecutive historical scanning points and uses algorithms such as linear fitting to infer the local orientation trend (attitude) of the weld. Repeating the above process for each preset detection angle (e.g., 30°, 35°, ..., 70°) yields a set of deviation and attitude data for different angles. Finally, numerical optimization algorithms such as least squares are used to fuse this data, determining the globally optimal weld centerline position and tracking direction that best represents the consensus across all angles. This is then output as the final ultrasonic tracking result to the tracking controller.

[0137] This embodiment effectively improves the ultrasonic resolution and positioning accuracy of weld edges through a symmetrical arrangement of one transmitter and one receiver and a refined imaging area setting. Combined with strict zero-point calibration, sound velocity calibration and AF imaging parameter control, it ensures high-fidelity mapping between acoustic signals and spatial positions, significantly reducing system errors. Reliable differentiation between the base material and the weld is achieved using a bottom wave reference and time-amplitude dual criteria (time deviation ≤ 0.3 μs, amplitude ≥ 0.7A0), enhancing the anti-interference capability of edge recognition. Finally, by fusing the current center coordinates, deviation amount and historical trajectory, it outputs stable, continuous and directional ultrasonic tracking results, providing high-quality input for multimodal fusion.

[0138] Optionally, step S2021, namely the initialization settings for at least one pair of ultrasound probes, includes:

[0139] S20211. Obtain the transmitter probe parameters;

[0140] S20212. Adjust the distance from the leading edge of the transmitting probe to the center of the weld according to coverage requirements;

[0141] S20213, calculating a geometric path of the receiving probe;

[0142] S20214, processing the transmitting probe parameter and the distance according to a receiving probe angle calculation formula to obtain a receiving probe angle; the receiving probe angle calculation formula comprises:

[0143]

[0144] wherein, is the receiving probe angle;

[0145] is a distance from a transmitting probe front edge to a weld center;

[0146] is a probe front edge distance;

[0147] is a horizontal offset of an acoustic line to a workpiece bottom surface;

[0148] is a workpiece thickness.

[0149] As shown in FIGS. 1A and 1B, the key geometry and acoustic parameters of the transmitting probe (e.g., probe A in FIG. 1A) can be obtained from system configuration or manual input. Figure 2 and Figure 3 These parameters include: workpiece thickness (T): the known or measured thickness of the workpiece to be detected; probe angle (a): the acoustic beam incidence angle (refraction angle) of the transmitting probe; probe front edge distance (L): the horizontal distance from the front end of the probe to the point of incidence of its acoustic beam (the point of contact with the workpiece); and distance from probe front edge to weld center (D). Figure 2

[0150] Then, the distance from the transmitting probe front edge to the weld center is adjusted according to the coverage requirements. To ensure that the ultrasonic beam fully covers the weld area, the system needs to perform coverage analysis: first, calculate the horizontal offset of the acoustic line from the point of incidence to the bottom surface of the workpiece according to the formula ; then evaluate the horizontal position of the acoustic beam at different depths to determine whether its scanning range can fully cover the weld width; if the coverage is insufficient, adjust the position of the transmitting probe horizontally through the electronic control chassis to dynamically adjust the distance from its front edge to the weld center until the full coverage requirement is met, and finally use the optimized as a key parameter for subsequent accurate calculation of the receiving probe geometric path and angle.

[0151] At the transmitting probe position (the front edge distance from the weld center is ​​​​) is determined, the receiving probe needs to be symmetrically arranged on the other side of the weld, and the distance from the front edge of the receiving probe to the center of the weld is also At this time, the sound wave starts from the transmitting probe, reaches the receiving probe after being reflected by the bottom surface of the workpiece, and the total span of the complete path of the sound wave in the horizontal direction is (wherein d is the front edge distance of the probe) Considering that there is a horizontal offset of the reflection point of the sound wave on the bottom surface , the remaining horizontal propagation distance from the reflection point to the front edge of the receiving probe is , and the geometric relationship provides a basis for the accurate calculation of the subsequent receiving angle and focusing rule.

[0152] In order to enable the receiving probe (probe B) to efficiently capture the ultrasonic signal reflected by the bottom surface of the workpiece, the sound beam axis of the receiving probe needs to be accurately aligned with the reflection point, and therefore the ideal incident angle of the receiving probe should be determined according to the geometric relationship of the reflection path; according to the principle of a right-angled triangle, the tangent value of the ideal incident angle is equal to the ratio of the horizontal distance from the reflection point to the front edge of the receiving probe to the thickness T of the workpiece, and by substituting the effective horizontal distance obtained by the foregoing calculation, the ideal incident angle can be obtained, thereby achieving the best alignment of the receiving sound beam and the reflection path.

[0153] The embodiment accurately calculates the optimal arrangement angle of the receiving probe by a systematic initialization process, in combination with the parameters of the transmitting probe and the geometric relationship of the weld, and ensures that the ultrasonic sound beam effectively covers the weld area; the angle calculation formula used comprehensively considers the probe position, the thickness of the workpiece and the propagation path of the sound wave on the bottom surface, significantly improves the focusing of the sound field on the center of the weld and the detection sensitivity; by quantifying the key geometric parameters (such as the front edge distance and the bottom surface offset), the repeatability and process adaptability of the probe layout are achieved, laying a foundation for subsequent high-precision edge recognition. The embodiment enhances the adaptive configuration capability of the ultrasonic module under different plate thicknesses and weld widths.

[0154] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0155] In an embodiment, a weld centerline real-time tracking device is provided, which corresponds to the weld centerline real-time tracking method in the above embodiment. As shown in Figure 6 , the weld centerline real-time tracking device comprises:

[0156] An acquisition and tracking evaluation parameter module 10 is configured to acquire a laser tracking evaluation speed, an ultrasonic tracking evaluation speed and a tracking speed threshold of a weld to be measured.

[0157] The acoustic-optical same-detection module 20 is configured to track the weld centerline of the weldment to be measured according to a laser-ultrasound same-detection strategy if both the laser tracking evaluation speed and the ultrasound tracking evaluation speed are greater than the tracking speed threshold value.

[0158] The main light and auxiliary ultrasound module 30 is configured to track the weld centerline of the weldment to be measured according to a main laser and auxiliary ultrasound strategy if either the laser tracking evaluation speed or the ultrasound tracking evaluation speed is less than or equal to the tracking speed threshold value.

[0159] Optionally, the acoustic-optical same-detection module 20 comprises:

[0160] The laser tracking result acquisition unit is configured to track the weld centerline by laser to obtain a laser tracking result.

[0161] The ultrasound tracking result acquisition unit is configured to track the weld centerline by ultrasound to obtain an ultrasound tracking result.

[0162] The first confidence degree calculation unit is configured to calculate a first confidence degree of the laser tracking result.

[0163] The second confidence degree calculation unit is configured to calculate a second confidence degree of the ultrasound tracking result.

[0164] The first target tracking result determination unit is configured to process the laser tracking result and the ultrasound tracking result according to the first confidence degree and the second confidence degree to obtain a target tracking result.

[0165] Optionally, the main light and auxiliary ultrasound module 30 comprises:

[0166] The laser tracking result acquisition unit is configured to track the weld centerline by laser to obtain a laser tracking result.

[0167] The first confidence degree calculation unit is configured to calculate a first confidence degree of the laser tracking result.

[0168] The ultrasound tracking result acquisition unit is configured to track the weld centerline by ultrasound to obtain an ultrasound tracking result if the first confidence degree is less than a first preset confidence degree threshold value.

[0169] The second confidence degree calculation unit is configured to calculate a second confidence degree of the ultrasound tracking result.

[0170] The second target tracking result determination unit is configured to determine the ultrasound tracking result as a target tracking result if the second confidence degree is greater than or equal to a second preset confidence degree threshold value.

[0171] Optionally, the laser tracking result acquisition unit comprises:

[0172] An initialization setting unit is used to initialize at least one pair of ultrasonic probes; the initialization settings include angle setting, system calibration, and sensitivity setting; the ultrasonic probes are phased array probes or general-purpose ultrasonic probes.

[0173] A weld edge location identification data unit is used to identify weld edge location data through echo data collected by at least one pair of ultrasonic probes during the scanning process.

[0174] The weld center coordinate unit is used to determine the weld center coordinates at the current angle based on the weld edge position data, and to obtain the deviation of the detection position relative to the expected path and local attitude information.

[0175] The first unit for obtaining ultrasonic tracking results is used to summarize the deviation and local attitude information under all detection angles, and solve them by least squares method to obtain the ultrasonic tracking results; the ultrasonic tracking results include the globally optimal weld centerline position and tracking direction.

[0176] Optionally, the detection parameters or threshold ranges associated with the ultrasound probe include:

[0177] Movement speed: 0.1 m / s ~ 2 m / s;

[0178] Angle range: 10°~ 90°;

[0179] Angle increment: 1°~10°;

[0180] Time threshold: 0~1 μs;

[0181] Amplitude threshold: 0.5 ~1 ;

[0182] Number of probe chips: 16-64.

[0183] Optionally, the unit for acquiring laser tracking results includes:

[0184] The plane wave excitation unit is used in a one-transmitter-one-receiver mode, where the transmitting probe is excited by a plane wave; the two probes are symmetrically arranged on both sides of the weld, with the leading edges at the same distance; the imaging area of ​​the receiving probe is set, with a height of one-third of the workpiece thickness and a width that covers the weld while leaving a margin;

[0185] The calibration unit is used to perform probe zero-point calibration and workpiece sound velocity calibration to ensure accurate acoustic time-position mapping; at the same time, it performs AF calibration on the imaging area to determine the imaging resolution and the number of array elements, and controls the AF sensitivity fluctuation gain to be less than or equal to a preset sensitivity threshold.

[0186] A reference reference unit is established to place the probe in a defect-free base material area, locate the bottom wave signal within the imaging area, and adjust the gain to stabilize its amplitude at a specified level, serving as a reference reference for subsequent identification. ;

[0187] A weld edge position data generation unit is used to analyze the echo signal at each scanning position within the imaging area to generate weld edge position data: if the time deviation is satisfied... And amplitude If it is, it is considered the base material; otherwise, it is considered a weld.

[0188] The second ultrasonic tracking result acquisition unit is used to calculate the current weld center coordinates and detection position deviation based on the weld edge position data, and to infer the weld direction by combining the historical trajectory to form the ultrasonic tracking result.

[0189] Optionally, the initialization setting unit includes:

[0190] The transmitter probe parameter acquisition unit is used to acquire transmitter probe parameters;

[0191] Determine the leading edge distance unit, which is used to adjust the distance from the leading edge of the transmitting probe to the center of the weld according to coverage requirements;

[0192] The geometric path calculation unit is used to calculate the geometric path of the receiving probe;

[0193] A receiving probe angle determination unit is used to process the transmitting probe parameters and the distance according to the receiving probe angle calculation formula to obtain the receiving probe angle; the receiving probe angle calculation formula includes:

[0194]

[0195] in, The angle of the receiving probe;

[0196] The distance from the leading edge of the probe to the center of the weld;

[0197] This refers to the distance from the probe's leading edge.

[0198] This is the horizontal offset of the sound ray reaching the bottom surface of the workpiece.

[0199] The thickness is the workpiece thickness.

[0200] Specific limitations regarding the real-time weld centerline tracking device can be found in the limitations of the real-time weld centerline tracking method described above, and will not be repeated here. Each module in the aforementioned real-time weld centerline tracking device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0201] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data related to the real-time weld centerline tracking method. The network interface communicates with external terminals via a network connection. When the processor executes the computer program, it implements a real-time weld centerline tracking method.

[0202] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the real-time weld centerline tracking method described in the above embodiment; to avoid repetition, this will not be repeated here. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the embodiment of the real-time weld centerline tracking device; to avoid repetition, this will not be repeated here.

[0203] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the real-time weld centerline tracking method described in the above embodiment. To avoid repetition, this will not be described again here. Alternatively, when executed by a processor, the computer program implements the functions of each module / unit in this embodiment of the real-time weld centerline tracking device. To avoid repetition, this will not be described again here.

[0204] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0205] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0206] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for real-time tracking of weld centerline, characterized in that, include: Obtain the laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test; If both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold, then the weld centerline of the workpiece under test is tracked according to the laser-ultrasonic simultaneous inspection strategy. If the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold, the weld centerline of the workpiece under test is tracked according to the main laser + secondary ultrasonic strategy.

2. The real-time tracking method for weld centerline according to claim 1, characterized in that, The step of tracing the weld centerline of the workpiece under test according to the laser-ultrasonic inspection strategy includes: The centerline of the weld is tracked using a laser to obtain the laser tracking result; The centerline of the weld was traced using ultrasound to obtain the ultrasound tracking results; Calculate the first confidence level of the laser tracking result; Calculate the second confidence level of the ultrasonic tracking results; The laser tracking results and the ultrasonic tracking results are processed based on the first confidence level and the second confidence level to obtain the target tracking results.

3. The real-time tracking method for weld centerline according to claim 1, characterized in that, The step of tracing the weld centerline of the workpiece under test using a main laser + secondary ultrasonic strategy includes: The centerline of the weld is tracked using a laser to obtain the laser tracking result; Calculate the first confidence level of the laser tracking result; If the first confidence level is less than the first preset confidence threshold, the center line of the weld is tracked by ultrasound to obtain the ultrasound tracking result; Calculate the second confidence level of the ultrasonic tracking results; If the second confidence level is greater than or equal to the second preset confidence threshold, then the ultrasonic tracking result is determined as the target tracking result.

4. The real-time tracking method for weld centerline according to claim 2 or 3, characterized in that, The step of tracing the centerline of the weld using ultrasound to obtain the ultrasound tracking result includes: At least one pair of ultrasonic probes are initialized; the initialization settings include angle settings, system calibration, and sensitivity settings; the ultrasonic probes are phased array probes or general-purpose ultrasonic probes. During the scanning process, the weld edge location data is identified by the echo data collected by the at least one pair of ultrasonic probes; The weld center coordinates at the current angle are determined based on the weld edge position data, and the deviation of the detection position from the expected path and local attitude information are obtained. The deviation and local attitude information under all detection angles are summarized and solved using the least squares method to obtain the ultrasonic tracking result; the ultrasonic tracking result includes the globally optimal weld centerline position and tracking direction.

5. The real-time tracking method for weld centerline according to claim 4, characterized in that, The detection parameters or threshold ranges associated with the ultrasound probe include: Movement speed: 0.1 m / s ~ 2 m / s; Angle range: 10°~ 90°; Angle increment: 1°~10°; Time threshold: 0~1 μs; Amplitude threshold: 0.5 ~1 ; Number of probe chips: 16-64.

6. The real-time tracking method for weld centerline according to claim 2 or 3, characterized in that, The step of tracing the centerline of the weld using ultrasound to obtain the ultrasound tracking result includes: The system adopts a one-transmitter-one-receiver mode, with the transmitting probe excited by a plane wave; the two probes are symmetrically arranged on both sides of the weld, with the leading edges at the same distance; the imaging area of ​​the receiving probe is set with a height of one-third of the workpiece thickness and a width that covers the weld while leaving a margin. Perform probe zero-point calibration and workpiece sound velocity calibration to ensure accurate acoustic time-position mapping; at the same time, perform AF calibration on the imaging area to determine the imaging resolution and the number of array elements, and control the AF sensitivity fluctuation gain to be less than or equal to the preset sensitivity threshold. The probe is placed in a defect-free area of ​​the parent material, and the bottom wave signal is located within the imaging area. The gain is adjusted to stabilize its amplitude at a specified level, which serves as a reference for subsequent identification. ; Within the imaging area, the echo signal is analyzed for each scanning position to generate weld edge position data: if the time deviation is satisfied... And amplitude If it is, it is considered the base material; otherwise, it is considered a weld. The current weld center coordinates and detection position deviation are calculated based on the weld edge position data, and the weld direction is deduced by combining the historical trajectory to form the ultrasonic tracking result.

7. The real-time tracking method for weld centerline according to claim 4, characterized in that, The initialization settings for at least one pair of ultrasound probes include: Obtain the parameters of the transmitting probe; Adjust the distance from the leading edge of the transmitting probe to the center of the weld seam according to coverage requirements; Calculate the geometric path of the receiving probe; The receiving probe angle is obtained by processing the transmitting probe parameters and the distance according to the receiving probe angle calculation formula; the receiving probe angle calculation formula includes: in, The angle of the receiving probe; The distance from the leading edge of the probe to the center of the weld; This refers to the distance from the probe's leading edge. This is the horizontal offset of the sound ray reaching the bottom surface of the workpiece. The thickness is the workpiece thickness.

8. A real-time tracking device for weld centerline, characterized in that, include: The tracking evaluation parameter acquisition module is used to acquire the laser tracking evaluation speed, ultrasonic tracking evaluation speed, and tracking speed threshold of the weldment under test; The acoustic-optical simultaneous inspection module is used to track the weld centerline of the workpiece under test according to the laser-ultrasonic simultaneous inspection strategy if both the laser tracking evaluation speed and the ultrasonic tracking evaluation speed are greater than the tracking speed threshold. The main laser and secondary ultrasonic modules are used to track the weld centerline of the workpiece under test according to the main laser + secondary ultrasonic strategy if the laser tracking evaluation speed or the ultrasonic tracking evaluation speed is less than or equal to the tracking speed threshold.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the real-time tracking method for the weld centerline according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the real-time tracking method for the weld centerline according to any one of claims 1 to 7.

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